Futaba RS302CD - Manual (Page 19)

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●No.4 Servo ID(1Byte, Hex Number, Read/Write)
This data represents the servo ID. Its initial value is 01H.
The setting range is 1 ~ 127 (01H ~ 7FH).
Ex) Rewrite servo ID1 to ID5.
Hdr ID Flg Adr Len Cnt Dat Sum
The relevant servo begins to operate under the new ID as soon as the ID rewrite
command is received.
Note that after the ID was rewritten, if it was not written to the flash ROM, when the
power is turned off, it will return to the previous ID.
●
No.５ Servo Reverse（１ Byte,Hex Number,Read/Write）
This shows rotation directions of the servo. The initial value of 00H means the normal
rotation and 01H means the reverse rotation.
If the servo is set with 01H, the limited range of rotation angles is also reversed.
●No.6 Baud Rate(1Byte, Hex Number, Read/Write)
This data represents the communication speed.
The value assigned to each baud rate is shown below.
Table 4.6 Baud rate
Value Baud rate Value Baud rate Value Baud rate
00H 9,600bps 05H 57,600bps 0AH 460,800bps
01H 14,400bps 06H 76,800bps
02H 19,200bps 07H 115,200bps
03H 28,800bps 08H 153,600bps
04H 38,400bps 09H 230,400bps
（ Date Bits : 8 bit,Stop Bit :1 bit,Parity : None,Flow Control : None）
Its initial value is 07H (115,200bps).
※ When a value other than the set values listed above was set, the communication speed becomes
115,200bps.
Ex.) Set Baud Rate of servo ID=1 to 38,400bps.
Write Baud Rate=04H. At this time, a command with 1 set in bits 5 and 6 of the Flag
field is sent and writing to ROM and restarting of the servo are executed simultaneously.
Hdr ID Flg Adr Len Cnt Dat Sum
FA AF 01 00 04 01 00 01 05
FA AF 01 60 06 01 63 01 04